Method and apparatus for compensating for camera error in a multi-camera stereo camera system

ABSTRACT

A system and method multi-camera error compensation including recording a plurality of raw images via a plurality of digital cameras and an application processor processing with a multi-view stereo imaging system one or more plural image frames from the raw images captured by the plurality of digital cameras. The plural images may be stored in memory and the detection conducted for calibration loss of at least one digital camera via the processor executing instructions for a multi-camera error compensating system to determine loss of calibration in plural images. The multi-camera error compensating system conducts dynamic recalibration of plural image calibration parameters based on at least one plural image frame and in response to detection of calibration loss via the multi-camera error compensating system and a processor reprocesses the plural image frame from a reprocessing queue according to the recalibrated plural image parameters.

This application is a continuation of prior application Ser. No.14/815,614, entitled “Method and Apparatus for Compensating for CameraError in a Multi-Camera Stereo Camera System,” filed on Jul. 31, 2015,which is assigned to the current assignee hereof and is incorporatedherein by reference in its entirety.

FIELD OF THE DISCLOSURE

This disclosure generally relates to information handling systems, andmore particularly relates to a method and apparatus for errorcompensation for multi-camera systems.

BACKGROUND

As the value and use of information continues to increase, individualsand businesses seek additional ways to process and store information.One option available to users is information handling systems. Aninformation handling system generally processes, compiles, stores,and/or communicates information or data for business, personal, or otherpurposes thereby allowing users to take advantage of the value of theinformation. Because technology and information handling needs andrequirements vary between different users or applications, informationhandling systems may also vary regarding what information is handled,how the information is handled, how much information is processed,stored, or communicated, and how quickly and efficiently the informationmay be processed, stored, or communicated. The variations in informationhandling systems allow for information handling systems to be general orconfigured for a specific user or specific use such as financialtransaction processing, airline reservations, enterprise data storage,or global communications. In addition, information handling systems mayinclude a variety of hardware and software components that may beconfigured to process, store, and communicate information and mayinclude one or more computer systems, data storage systems, andnetworking systems. Many current information handling systems includeintegrated camera systems for recording images.

BRIEF DESCRIPTION OF THE DRAWINGS

It will be appreciated that for simplicity and clarity of illustration,elements illustrated in the Figures are not necessarily drawn to scale.For example, the dimensions of some elements may be exaggerated relativeto other elements. Embodiments incorporating teachings of the presentdisclosure are shown and described with respect to the drawings herein,in which:

FIG. 1 is a block diagram illustrating an information handling systemaccording to an embodiment of the present disclosure;

FIG. 2 a block diagram illustrating a multi-view stereo imaging systemwith multi-camera error compensation according to an embodiment of thepresent disclosure;

FIG. 3 is a display image diagram illustrating an image of a scenehaving objects at different distances recorded from one or more digitalcameras according to an embodiment of the present disclosure;

FIG. 4 is a flow diagram illustrating a method of dynamic calibrationvia a multi-camera error compensation system according to an embodimentof the present disclosure;

FIG. 5 is a flow diagram illustrating a method of image reprocessing viaa multi-camera error compensation system according to an embodiment ofthe present disclosure; and

FIG. 6 is a flow diagram illustrating a method of recursive imagereprocessing via a multi-camera error compensation system according toan embodiment of the present disclosure.

The use of the same reference symbols in different drawings may indicatesimilar or identical items.

DETAILED DESCRIPTION OF THE DRAWINGS

The following description in combination with the Figures is provided toassist in understanding the teachings disclosed herein. The descriptionis focused on specific implementations and embodiments of the teachings,and is provided to assist in describing the teachings. This focus shouldnot be interpreted as a limitation on the scope or applicability of theteachings.

An information handling system, such as mobile information handlingsystems including personal computer (e.g., desktop or laptop), tabletcomputer, mobile device (e.g., personal digital assistant (PDA) or smartphone), or other mobile computing platform including wearable computingplatforms may include a plurality of digital camera systems servingnumerous functions. In an embodiment, an information handling system mayinclude a multi-view stereo imaging system operating with the pluralityof digital camera systems. In various embodiments, two digital camerasmay be used, more than two digital cameras may be used, or a compounddigital camera with plural image sensors may be used with the multi-viewstereo imaging system of the present disclosure. Hereinafter, aplurality of digital camera systems shall include a compound camera withplural image sensors.

In an aspect, multi-view stereo imaging systems in information handlingsystems with a plurality of digital cameras may require precisionalignment and calibration to conduct a variety of plural imagingfunctions including three dimensional (3D) imaging operations.Misalignment or loss of calibration of one or more of the plurality ofdigital cameras can lead to incorrect operation of plural imagingfunctions. In information handling systems, for example consumer mobiledevices, maintaining alignment over a long period of time may beimpractical. This is due to normal wear and tear, traumatic events,thermal events, and many other factors during the course of usage of theinformation handling system. A multi-view stereo imaging system with aplurality of digital cameras may however be recalibrated after usagecauses misalignment or loss of calibration. Manual calibration of themulti-view stereo imaging system or the plurality of digital cameras,such as embedded cameras in an information handling system, may beunwieldy or difficult in the information handling system with aplurality of digital cameras. Recalibration may occur via a multi-cameraerror compensating software system according to the present disclosureto adjust plural imaging frame parameters to recalibrate plural imagingfunctions, including 3D imaging operation. In an embodiment, themulti-camera error compensating software system may operate nearlyinvisibly to determine if calibration of plural image frames is withinidentified tolerances for specific plural imaging functions to identifyloss of calibration or alignment. Notification of the loss ofcalibration may occur in one aspect of the multi-camera errorcompensating software system. Recalibration may take place in accordancewith a user's instructions in another aspect of the disclosure.

In one embodiment, the multi-camera error compensating software systemmay conduct dynamic recalibration with minimal user interaction. Such asolution is a user friendly multi-camera error compensating softwaresystem in an aspect of the present disclosure to assist in limitingneeded user input while maintaining calibration of the multi-view stereoimaging system if camera error occurs. With a dynamic recalibrationembodiment of the multi-camera error compensating software system, thedynamic recalibration of the plural imaging data from the multi-viewstereo imaging system may be conducted based on analysis of one or moreplural images taken and compared to determine error of calibrationparameters with respect to the digital camera systems. Then dynamicrecalibration of the plural image calibration parameters maybe beconducted to modify calibration parameters for plural image frames aserror compensation for digital camera misalignment or other errors inanother aspect of the disclosure. In some embodiments, a plurality oftest plural images may be used to increase confidence of the calibrationupdate. In an embodiment, the test plural images may be plural imageframes previously taken and stored by the multi-view stereo imagingsystem. Plural images may also include the plurality of raw imagesrecorded by the plurality of digital cameras prior to consolidation intoa plural image frame. These raw image components may serve as testplural images as well. Upon dynamic recalibration with the multi-cameraerror compensating software system, one or more plural image framestaken prior to recalibration may be reprocessed to correct errors fromdecalibration. This may be done seamlessly, however problems may ariseif a plural image frame taken during a state of decalibration ismodified before reprocessing. The multi-view stereo imaging system maydetect user action to modify plural image frames and elect not toreprocess modified plural image frames with new calibration parametersafter dynamic recalibration.

For purposes of this disclosure, the information handling system mayinclude any instrumentality or aggregate of instrumentalities operableto compute, classify, process, transmit, receive, retrieve, originate,switch, store, display, manifest, detect, record, reproduce, handle, orutilize any form of information, intelligence, or data for business,scientific, control, entertainment, or other purposes. For example, aninformation handling system may be a personal computer (desktop, laptop,all-in-one computer, etc.), a consumer electronic device, a networkserver or storage device, a switch router, wireless router, or othernetwork communication device, a network connected device (cellulartelephone, tablet device, etc.), or any other suitable device, and canvary in size, shape, performance, price, and functionality and price.The information handling system can also be implemented as orincorporated into various devices, such as a laptop computer, a tabletcomputer, a set-top box (STB), a mobile information handling system, apalmtop computer, a desktop computer, a communications device, awireless telephone, a smart phone, a wearable computing device, aland-line telephone, a control system, a camera, a scanner, a facsimilemachine, a printer, a pager, a personal trusted device, a web appliance,a network router, switch or bridge, or any other machine capable ofexecuting a set of instructions (sequential or otherwise) that specifyactions to be taken by that machine. In a particular embodiment, theinformation handling system can be implemented using electronic devicesthat provide voice, video or data communication. Further, while a singleinformation handling system 100 is illustrated in FIG. 1, the term“system” shall also be taken to include any collection of systems orsub-systems that individually or jointly execute a set, or multiplesets, of instructions to perform one or more computer functions.

FIG. 1 shows a block diagram of an information handling system 100capable of administering each of the specific embodiments of the presentdisclosure. For purpose of this disclosure information handling system100 can include any instrumentality or aggregate of instrumentalities asdescribed above, and operates to perform one or more of the methodsdescribed herein. Further, information handling system 100 can includeprocessing resources for executing machine-executable code instructions124 of an operating system 122 and various applications 132. Processingresources may include a central processing unit (CPU) 102, aprogrammable logic array (PLA), an embedded device such as aSystem-on-a-Chip (SoC), or other control logic hardware. Informationhandling system 100 can also include one or more computer-readablemedium types for storing machine-executable code, such as software, ordata. Additional components of information handling system 100 caninclude one or more storage devices 106, 108, and 109 that can storemachine-executable code or data on various computer-readable mediumtypes, one or more communications ports for communicating with externaldevices, and various input and output (I/O) devices connected via I/Ointerfaces. I/O devices may include one or more alpha numeric or cursorcontrol devices 110 including keyboards, mice, touchpads, and touchscreens. Additional input and output (I/O) devices include videodisplays 112, digital camera systems 140, signal generating systems andsignal receiving systems (not shown) such as sound, infrared, visiblelight, or radiofrequency signal systems. Information handling system 100can also include one or more buses 114 operable to transmit informationbetween the various hardware components.

In an example embodiment, information handling system 100 includes oneor more chipsets 104. Chipset 104 in an embodiment may include one ormore processors 102, embedded controllers 120, and graphics processingsystems such as a graphics processing unit (GPU) 126 among othercontrollers or processors as specified. In example aspects, the chipset104 may interface with main memory 104 to utilize and processmachine-executable code instructions 124. Main memory 104 may includeRAM memory or other memory to store machine-executable code instructions124 for processing. One or more buses 114 may connect chipset 104 orother processing resources to memory including static memory 108 such asflash memory, or a drive unit 109 such as a disk drive, ROM or othermemory. Main memory 106, static memory 108, drive unit 109 may eachcontain varied types of computer readable medium. For example, driveunit 109 may include a computer readable medium shown as 125 of avariety of sorts known in the art. Each of main memory 106, staticmemory 108, or drive units 109 may store instructions 124 for theinformation handling system. Drive unit 109 or static memory 108 mayalso be controlled by a disk controller or a disk emulator if peripheralto the information handling system. Information handling system 100 canfurther include a network interface device 116 for connection to network118.

Processor 102 and processor chipset 104 is operatively coupled to memory106 via memory bus. GPU 126 may also be operatively coupled to processor102 via a graphics interface and provides a video display output to oneor more video displays 112. Video display 112 is connected to touchcontroller 128 via touch controller interface. In a particularembodiment, information handling system 100 includes separate memoriesthat are dedicated to processor 102 via separate memory interfaces. Anexample of memory 106 includes random access memory (RAM) such as staticRAM (SRAM), dynamic RAM (DRAM), non-volatile RAM (NV-RAM), or the like,read only memory (ROM), another type of memory, or a combinationthereof. Memory 106 can store, for example, at least one application 132and operating system 122. Operating system 122 includes operating systemcode operable to detect resources within information handling system100, to provide drivers for the resources, initialize the resources, toaccess the resources, and to support execution of the at least oneapplication 132. Operating system 122 has access to system elements viaan operating system interface, and may include interface with devicedrivers.

Graphics interfaces, disk controllers, and I/O interfaces, peripheralinterfaces, network interface controllers and other interfaces of theinformation handling system 100 are operatively coupled to chipset 104via interfaces that may be implemented, for example, using a PeripheralComponent Interconnect (PCI) interface, a PCI-Extended (PCI-X)interface, a high-speed PCI-Express (PCIe) interface, another industrystandard or proprietary communication interface, or a combinationthereof according to various embodiments. Chipset 104 can also includeone or more other I/O interfaces, including an Industry StandardArchitecture (ISA) interface, a Small Computer Serial Interface (SCSI)interface, an Inter-Integrated Circuit (I²C) interface, a System PacketInterface (SPI), a Universal Serial Bus (USB), another interface, or acombination thereof in certain embodiments. An example of disk interfacewith static memory 108 or drive unit 109 includes an IEEE 1194(Firewire) interface, Integrated Drive Electronics (IDE) interface, anAdvanced Technology Attachment (ATA) such as a parallel ATA (PATA)interface or a serial ATA (SATA) interface, a SCSI interface, a USBinterface, a proprietary interface, or a combination thereof in variousembodiments. Alternatively, static memory 108 or drive unit 109 can bedisposed within information handling system 100.

Network interface device 116 disposed within information handling system100 may be located on a main circuit board of the information handlingsystem, integrated onto another component such as chipset 104, inanother suitable location, or a combination thereof. Network interfacedevice 116 is connected to chipset 104 via one or more buses 114.Network interface device 116 includes one or more network channels thatprovide interfacing to devices and other information handling systemsthat are external to information handling system 100. In a particularembodiment, network channels may be wired, wireless, or a combination ofthe same as is understood by those of skill in the art. An example ofnetwork channels includes wireless telecommunication and dataconnectivity such as LTE, UMTS/EDGE, EDGE/GSM, CDMA wirelesscommunication standards known in the art. Other example network channelsinclude WiMax, Wi-Fi, Bluetooth, InfiniBand channels, Fibre Channelchannels, Gigabit Ethernet channels, proprietary channel architectures,or a combination thereof. Network channel can be connected to externalnetwork resources available to the information handling system (notillustrated). The network resources can include another informationhandling system, a data storage system, another network, a gridmanagement system, another suitable resource, or a combination thereof.

In accordance with at least one embodiment, camera 140 of informationhandling system 100 comprises one or more digital cameras withthree-dimensional (3D) imaging capability. As an example embodiment, thecamera 140 can be an INTEL® REALSENSE™ 3D camera or another 3D camera.In an aspect, camera 140 may have multiple camera elements or be aplurality of digital cameras 140 at diverse locations to yield parallaxinformation can be used to determine distances of image elements fromthe camera. As another aspect, a camera 140 may have a focusable lens toyield differences in sharpness at different distances can be used todetermine distances of image elements from the camera.

Information handling system 100 includes instructions 124 to be executedby processor 102 and stored in memory 106, which is connected toprocessor 102. Processor 102 is coupled, for example, via chipset 104and one or more buses 114 to the one or more cameras 140. A digitalcamera 140 can record a first raw image of a scene. The instructions 124cause processor 102 to record a second raw image of the scene fromanother image sensor or digital camera 140. The second raw image mayrecord the scene from a different angle. Any number of a plurality ofraw images may be recorded by a plurality of digital cameras 140, andthe digital cameras 140 are contemplated as having different parallaxangles known to the system. The instructions cause processor 102 toconstruct a composite image based on at least a portion of the first,second, and other raw images for the at least one of the plurality ofimage elements. The composite image may be referred to as a plural imageframe of the scene. In an example embodiment, the instructions may causethree-dimensional (3D) image processing that may correlate distanceswithin the plural image frame, exposure levels, and focal levels over aplurality of image elements or objects within the plural image frame.The instructions cause processor 102 to utilize plural image calibrationparameters in processing raw images into a plural image frame. Exampleplural image calibration parameters include depths, rotation, fields ofview, focal lengths and other calibration factors for processing theplural image frame from raw images. In an aspect, this may include 3Dimage processing for the plural image frames to establish distances ofelements or objects within a plural image frame.

In accordance with at least one embodiment, the instructions 124 causeprocessor 102 to detect when an image is recorded and one or more pluralimage calibration parameters is out of calibration. In accordance withat least one embodiment, the instructions 124 cause processor 102 toconduct dynamic recalibration of plural image calibration parameters tocorrect misalignment or other loss of calibration of one or more digitalcameras 140. In accordance with at least one embodiment, theinstructions 124 cause processor 102 to determine if one or more pluralimage frames are out of calibration. In accordance with at least oneembodiment, the instructions 124 cause processor 102 to determine if oneor more plural image frames that are out of calibration have beenmodified by a user. In accordance with yet another embodiment, theinstructions 124 cause processor 102 to add one or more plural imageframes to a reprocessing queue. In accordance with at least oneadditional embodiment, the instructions 124 cause processor 102 toreprocess one or more plural image frames that are out of calibrationaccording to recalibrated plural image calibration parameters.Additional detail for methods or portions of methods for the abovedescribed embodiments is discussed further herein.

FIG. 2 shows a block diagram of a multi-view stereo imaging system 200with multi-camera error compensation according to one embodiment of thepresent disclosure. The various aspects of the multi-view stereo imagingsystem 200 are capable of administering each of the specific embodimentsof the present disclosure via execution of code instructions run on aCPU or embedded controller in the chipset(s) of one or more informationhandling systems as described above. The multi-view stereo imagingsystem 200 may be implemented as one or more modules of executablesoftware code. The multiview stereo imaging system core module 210coordinates collection of a plurality of raw images and consolidation ofthose images in to a plural image frame. The multiview stereo imagingsystem core 210 may conduct additional processing of plural image framesincluding 3D processing to determine depth calculations for pixelsrepresenting points and objects within a scene of the plural imageframe.

The application programming interface (API) 215 may coordinate all codeinstruction modules that comprise the multiview stereo imaging system200 and code instructions that function on the information handlingsystems such as operating system, device drivers, applications and othersoftware code instructions that may operate in the information handlingsystem. The multiview stereo imaging system core 210 interfaces with theAPI 215 found in the information handling system software to coordinatevarious software applications and hardware including the digital camerahardware drivers 220 and 221 operating a plurality of digital cameras222 and 223 for recording raw images by the information handling system.As explained earlier, it is understood that a plurality of digitalcamera systems are contemplated and may include two or more digitalcamera systems in various embodiments. An example API system embodimentmay include a Win 32 API or other API software systems as understood inthe art. It is further understood that while several distinct codeinstruction modules are depicted in FIG. 2, that is for illustrativepurposes and the software architecture may be employed with one softwarecode module or a plurality of software code modules in addition to whatis shown in FIG. 2. Further, it is understood that functionality oroperation described for any one of the code instruction modules may beperformed by a different instruction code module or a combination of anyinstruction code modules or sub-systems.

In an example embodiment, the API 215 may coordinate the multiviewstereo imaging system core 210, a multi-camera error compensating system235, and digital camera device drivers 220 and 221. The multiview stereoimaging system 200 similarly has a plurality of data repositoriesincluding a database for storing plural image frames 225, a database forplural image parameters 230, and a reprocessing queue 245 for pluralimage frames designated as decalibrated and available for reprocessingafter dynamic recalibration of plural image parameters. It is understoodthat the above described databases may be separate or combined into oneor more databases or may be distributed among several memory locationsin any architecture.

The multiview stereo imaging system 200 operates via a multi-cameraerror compensating system 235 to determine if digital camera systems 222and 223 are operating out of calibration. Loss of calibration may occurdue to a variety of factors including from mechanical movement orcontortion of digital camera systems 222 and 223, thermal action, ordigital or electronic errors in camera function. Mechanical movement orcontortion may take place due to vibration, mechanical drops, heat, orother factors to cause digital camera systems 222 and 223 to move out ofalignment. Such camera errors will cause errors during consolidation ofraw images recorded via digital camera systems 222 and 223 into pluralimage frames. Plural image calibration parameters used to consolidateraw images will no longer function as originally calibrated. Acalibration check sub-system 240 will operate with the multi-cameraerror compensating to detect loss of calibration in acquired pluralimage frames indicating digital camera system error or other errors. Themulti-camera error compensating system 235 may also apply dynamicrecalibration with a recalibration engine 250 to plural imagecalibration parameters to correct the issues detected. In an exampleaspect, the recalibration engine 250 may recalibrate the plural imagecalibration parameters using the altered alignment of digital camerasystems 222 and 223 based on the recorded raw images of one or moreplural image frames. In another example aspect, certain plural imageframes detected as out-of-calibration may be reprocessed with new pluralimage calibration parameters via a reprocessing engine 260 of themulti-camera error compensating system. In some embodiments, the abovesub-systems may be part of the multi-camera error compensating system235. In other embodiments, it is understood that code instructionsexecutable by a processor for systems 240, 250, and 260 may beindependent from one another and operation may be coordinated via API215.

In some aspects, some or all of the multiview stereo imaging system 200may coordinate raw image data, plural image data, or plural imagecalibration parameters across a network to a remote location for imageprocessing or dynamic recalibration. For example, the multiview stereoimaging system core 210 may report some or all of the raw images, stereoimages, or plural image calibration parameters via a network interface(NIC) to a remote information handling system or remote data repository.

FIG. 3 is a display image diagram illustrating an image of a scenehaving objects at different distances from an information handlingsystem having a plurality of digital camera systems, wherein the objectsare represented by image elements, according to an embodiment of thepresent disclosure. Image 300 comprises a scene having objects 302through 308 as example objects within the scene of image 300. In anexample embodiment, image 300 may be displayed on a display screen 330of an information handling system 340 such as a tablet computing system.Objects 302 through 308 are located at a variety of distances and rangesof depth of distance. In an example embodiment, the plurality of digitalcamera systems may operate as a 3D camera with 3D image processing viathe multiview stereo imaging system described in the present disclosure.For example, object 302, which represents a picture, is in a moderatebackground. Object 304, which represents a couch, is illustrated as alsoin the moderate background. Object 306, which represents a coffee table,is illustrated in a near foreground. Object 308, which represents an endtable is also in the moderate foreground, in a less extreme foregroundposition than object 306. Object 310, which represents a chair, is in abackground relative to object 306. Additional objects are shown in thescene of image 300, but not discussed.

The three-dimensional relationships illustrated in FIG. 3 can bediscussed with respect to x, y, and z axes, wherein the x axis isdefined as being a horizontal axis, the y axis is defined as being avertical axis, and the z axis is defined as being a distance axis alonga path through the plane of image 300 away from a point of view of theplurality of digital camera systems capturing image 300. In accordancewith at least one embodiment, using distance information obtained fromthe plurality of digital camera systems, the distances of imageelements, such as pixels, of image 300 from the plurality of digitalcamera systems can be determined. Processing raw image recordings fromthe plurality of digital camera systems via the multiview stereo imagingsystem of the present disclosure permits consolidation of the raw imagesinto a plural image frame. Patterns of such image elements, for example,image elements within the region occupied by object 306, can berecognized, for example, by their proximity in x, y, z space. Oncerecognized, such patterns can be used to identify objects, such asobject 306 and its relation to other objects, such as objects 302, 304,308 and 310, in the x, y, z space. Image distance coordinates in x, y, zspace may be identified at points along an object according to x, y, zcoordinates associated with a pixel or pixels at that location in image300. For example, coordinate distance point (X₁, Y₁, Z₁) is shown at320. The coordinate distance point (X₂, Y₂, Z₂) is shown at 322,coordinate distance point (X₃, Y₃, Z₃) is shown at 324, and coordinatedistance point (X₄, Y₄, Z₄) is shown at 326. As is understood,additional image processing can be performed with respect to eachidentified object or plurality of objects that are at particular zdistance or range of z distances. For example, distances between x, y, zcoordinate points may be measurable. As an additional example, objectsin space within plural image frames may be identified as objects basedon edges. Misalignment of digital cameras or loss of calibration mayhave substantial impact with undesirable consequences on the accuracy ofprocessed plural image frames therefore, including plural images with 3Dimage processing.

FIG. 4 is a flow diagram illustrating a method of detecting a pluralimage frame out of calibration and providing recalibration of pluralimage parameters for consolidating or merging raw images into a pluralimage frame according to an embodiment of the present disclosure. Inaccordance with at least one embodiment, a method is performed in aninformation handling system having a plurality of digital camerasystems. Method 400 begins in block 405 where the plurality of digitalcamera systems acquires raw images and the raw images are processed intoa merged plural image frame. In an example embodiment, the processing ofthe raw images from the plurality of digital camera systems is conductedby a multi-view stereo imaging system. The processing may include 3Dprocessing for depth within a plural image frame resulting from mergerof the raw image frames. As is understood in some embodiments, rawimages may be acquired, the raw images may be rectified to align themaccording to reference points, field of view, rotation, and otherfactors. Then, in an embodiment, a disparity map is determined toprovide reference for pixels within the images relative to parallaxangles for the plurality of digital cameras relative to points orobjects within the plural images. Calculation of a disparity map willrely on plural image calibration parameters. This disparity informationis used to merge the two raw images into a plural image frame with depthparameters, color, and pixel coordinate information for the plural imageframe pixels. It is understood additional processing may occur withrespect to determination of plural image frames from the recorded rawimages at 405.

From block 405, method 400 proceeds to decision block 410. In decisionblock 410, a calibration check sub-system may be initiated with respectto one or more stored plural image frames. The calibration checksub-system may be routinely initiated or initiated on a periodic basis.A calibration check system will analyze correspondences between aplurality of raw images respect to image size, shape, distortion,rotation and other aspects. Comparison of overall image size, shape,distortion, rotation and other aspects between raw images may revealchanges in alignment between digital cameras.

Correspondences between the plurality of images may also be comparedrelative to features within the images such as corners or edges uniqueto an area of the image in an example embodiment. The calibration checksystem may determine if aspects of the area having identifiable featuresare similar between raw images to identify features for comparison. Forexample, aspects may include intensity levels, contrast changes, andcolor profiles. If several are similar, this can match to an imagefeature. Then assessment may take place relating to values ofcoordinates between features in different areas of the raw images.Assessment may be made with respect to relationship between two featuresin the raw images to see if behavior conforms to expected behavior basedon pre-existing calibration. For example, if a straight line between twoor more feature points is expected or a particular angle is expectedbetween to feature points relative to horizontal or vertical in certainembodiments, then no straight line or differing angles may indicatecalibration is in error. In another embodiment, lines between multiplethree dimensional distance points of a plural image frame may beprojected with an expected convergence, and if the projected lines donot converge as expected that may indicate loss of calibration. In anexample embodiment, several feature point relationships across an imagemay be analyzed to determine a level of error occurrence within the rawimages. A minimum number of feature point comparisons may be required.With more feature point comparisons, higher confidence in thecalibration check system may be generated to reject false errorindicators or to meet a threshold level of confidence to declare theplural image calibration parameters out of calibration with theplurality of digital cameras. Additional other calibration check methodsmay be used as well to determine whether calibration has been lost.

If the calibration check system determines that there is no calibrationloss of the plurality of digital camera systems, then the flow of method400 proceeds to block 450 for disparity calculations according toprevious calibration parameters. At block 455, disparity data is mergedinto a plural image frame and the plural image frame is stored. At thispoint the process would end.

If at decision block 410, at least one of the plurality of digitalcamera systems is determined to be out of calibration, the flow ofmethod 400 proceeds to block 415. At block 415, the multi-camera errorcompensating system will flag an acquired plural image frame or its rawimage components as out-of-calibration. The out-of-calibration flagdesignation will be stored with the data for the plural image frameand/or the raw images either of which may be referred to as a pluralimage. In some instances, a consolidated plural image frame and itscomponent raw images may be stored together as a plural image with adecalibration flag designation. Flow then proceeds to block 420 wherethe multi-camera error compensating system will access a plurality ofstored plural image frames. This will be done to determine if additionalplural image frames are also out of calibration. In some embodiments,the multi-camera error compensating system may select only more recentlystored plural image frames since those plural image frames may be morelikely out of calibration. In other embodiments, the multi-camera errorcompensating system may also gather any future plural images recorded bythe plurality of digital camera systems after the plural image framediscovered to be out-of-calibration since those are likely to be out ofcalibration as well if recalibration has not yet occurred. Uponacquiring at least one plural image frame having a loss of calibration,the recalibration engine may begin dynamic recalibration of plural imageparameters. In some embodiments, one plural image frame may be used fordynamic calibration however it is understood that two or more pluralimage frames are useful for enhanced reliability of the dynamicrecalibration process.

Proceeding to block 425, the multi-camera error compensating systemdynamic calibration engine will determine features within the accessedplural image frame or frames. As described above, the image features mayinclude corners, edges and other features with similar intensity,contrast changes, color profiles or the like between raw imagescomprising the plural image. At block 430, the features are alignedaccording to multiple depth point references so that similar depthpoints are aligned. In this way, the images are fit together withrespect to depth points within the plural image frames. In anembodiment, several points at depth are utilized as reference points.Based on reference points within the plural image frame or frames, linesof depth may be projected on to a point at theoretical infinity at block435. Thus the aligned depth reference points for a plural image framemay show alignment of projected depth lines to a theoretical infinitypoint. This may be repeated with respect to additional plural imageframes. The projection from the plurality of depth reference distancepoints to a theoretical infinity point allows determination of errorlevels of depth distance, rotation, field of view (e.g., stretch or skewin one or more directions) due to non-convergence of projections totheoretical infinity. In an example embodiment, backward optimizationmay then be used to correct the convergence from the depth distancereference points for correction to depth distance relationships to pixelshift based on parallax angles from the plurality of digital camerasystems. Similarly, rotation deviation from expected angles between setsof feature reference points may be used to backwards optimize rotationparameter values in another example embodiment.

At block 440, plural image calibration parameters may bebackwards-optimized based on the multiple depth reference points andconvergence projections to a point at theoretical infinity. Based onthese multiple depth points from one or more plural frames, alignmentfor depth distances 441, rotation 442, field of view 443, and focallengths 444 may be recalibrated with respect to the plurality of digitalcamera systems. Rotation angles may also be determined based on anglemisalignment of a theoretical line between two or more known depthreference points between raw images comprising a dual image frame. Thus,necessary rotation rectification may be determined between the rawimages recorded on the plurality of digital camera systems. Similarly,field of view dimensions may stretch, squash or otherwise skew the pixelfields between digital camera systems. Rectification factors forcalibration of field of view dimensions relative to pixel arrays betweenraw images may be similarly be modified based on determination of knownreference depth points upon recalibration. With more reference pointsfrom more plural image frames, additional reliability of backwardsoptimization may be made with respect to depth distances relative toparallax camera recording angles, rotation of images with any requiredrotational rectification, field of view dimensions with necessaryrectification for field of view between raw images, and focal lengthchanges or alterations to the digital camera systems.

With these plural image calibration parameters recalibrated by the aboveprocedure, flow may proceed to block 450 where a disparity calculationmay be conducted for acquired raw images which may then be consolidatedinto a plural image frame. Flow may then proceed to block 455 where thedisparity data is merged into a final plural image frame and the processmay end.

FIG. 5 is a flow diagram illustrating a method of detecting a state ofcalibration for a plural image frame and determination of plural imageframe reprocessing according to an embodiment of the present disclosure.Method 500 begins in block 505 where a plurality of digital camerasystems record raw images and the multi-view stereo imaging system mayprocess those raw images into a plural image frame. In otherembodiments, detection of a state of decalibration may begin withaccessing previously stored plural image frames instead of a newlyrecorded plural image frame. This may be done to determine the state ofcalibration of the plurality of digital camera systems during theprevious recording of the stored plural image frame. In otherembodiments, a plurality of current and previously recorded plural imageframes may be accessed to determine calibration.

Flow proceeds to decision block 510 where a calibration check sub-systemmay be initiated with respect to one or more stored plural image frames.The calibration check sub-system operates similarly to as describedabove to make a qualitative determination of whether a plural imageframe or its counterpart constituent raw images are out of calibration.As described in embodiments of the present disclosure, calibration checksystem will analyze correspondences between a plurality of raw imagesfor image size, shape, distortion, rotation and other aspects.Additionally, the correspondences rely on comparison of relativefeatures within the images, such as raw images. In other embodiments,the calibration check system may analyze merged plural image frames withconvergences from one or more distance reference points therein.

In an example embodiment, features include corners, edges or otherunique and identifiable details in an area of the image based on aspectssuch as intensity levels, contrast changes, color profiles, or otherdistinguishing aspects of an area or location in an image. Assessment ofcalibration is then made with respect to relationship between two ormore features in the raw images to see if behavior of angles, linesbetween features, or other details conform to expected behavior based onpre-existing calibration. For example, no straight line between two ormore feature points may indicate loss of calibration in someembodiments. Deviation from an expected angle between two or morefeature points relative to horizontal or vertical may indicate loss ofcalibration in certain other embodiments. Lack of a straight line ordiffering angles from expected angles may indicate calibrationparameters are in error. In another embodiment, projection of linesbetween multiple three dimensional distance points of a plural imageframe that do not reach an expected convergence may indicate loss ofcalibration. With a nominal number comparison bases including severalindicators from any one of the calibration check techniques above orfrom a combination of any one or more of the above techniques, arequired error confidence level may be reached to declare loss ofcalibration. With more comparison bases indicating calibration error,higher confidence in the calibration check system may be reached.Additional other calibration check methods may be used in addition tothe above to determine whether calibration has been lost.

If the calibration check system determines that there is no calibrationloss at block 510, then the flow proceeds to block 545 for disparitycalculations according to previous calibration parameters. At block 550,merger of disparity data into a consolidated plural image frame isconducted by the multi-view stereo imaging system and the plural imageframe is stored. At this point the process would end.

If at decision block 510, at least one of the plurality of digitalcamera systems is determined to be out of calibration based on at leastone plural image frame, the flow proceeds to block 515. At block 515,the multi-camera error compensating system will flag an acquired pluralimage or its raw image components as out-of-calibration. Theout-of-calibration flag designation will be stored with the data for theplural image frame, with the raw images acquired for a plural image, orin a separate information database that records and relates anidentifier of the plural image set (frames and raw images) with thecalibration status. Flow proceeds to decision block 520 where themulti-camera error compensating system will determine whether a useraction has been performed on a stored plural image frame. A user actionon a plural image frame is an action to modify or edit the content ofthe plural image frame, or an action to consume the image or associateddisparity data or depth image data for further application uses orprocesses. In an example embodiment, a user action on a plural imageframe may be modification or consumption of a plural image or relateddata such as with a photo editor. In another embodiment, modification ofsettings such as exposure settings, focus, color effects, or the likemay be a user action to modify or consume a plural image frame. Inanother embodiment, consumption of the related plural image sub-elementssuch as disparity or depth information to perform a point-to-pointmeasurement, area measurement, object segmentation, view interpolation,or relighting operation may be a user action to modify or consume aplural image frame. User action on a plural image frame file must bemore than merely viewing the two dimensional luminance and chrominanceplural image frame components on a display screen. A user action mustinvolve the consumption or potential alteration of the disparity ordepth component of the plural image frame. In other embodiments,re-saving a copy without changes, copying, printing, or transmitting acopy of a plural image frame may not rise to the level of a user actionon a plural image frame if the depth or disparity components are notconsumed or modified. However in some embodiments, these actions may bedeemed user action on a plural image frame, especially if they mayirreversibly impact any one of the sub-image components of the pluralimage, such as converting to a different file format that may modify ordelete information related to the sub-image components. Settings in themulti-view stereo imaging system may reflect certain activity with aplural image frame file that may meet the threshold requirement for useraction on a plural image frame. The multi-view stereo imaging system maydetermine if modifications or consumptions have been applied to theplural image frame file.

There are several ways in which the multi-view stereo imaging system maydetermine if modifications may have been made via user action. In anexample embodiment, the plural image data may include a plural imageframe and raw images data which were consolidated into the plural imageframe. Additionally, plural image data may include an array of imageversions tracked over time as the plural image frame is opened oraccessed. This array of image versions permits comparison between pluralimage frame versions paired with a time stamp to determine differencesbetween versions. In another embodiment, the raw images originallyrecorded may be re-consolidated into a plural image frame and comparedto the current version of the plural image frame to detect modificationsexisting in the current plural image frame. In yet another embodiment, aplural image frame may be analyzed in segments. Comparison of factorssuch as optical path length, image blurring, color transitions, shadingor intensity anomalies, or other factors between compared segments of aplural image frame may indicate modification has been made. More thantwo segments within a plural image frame may be compared. By comparingsegments within the plural image frame, computation may be reduced byavoiding analysis of the entire image for comparison. In anotherembodiment, segments of plural image frames may be compared as betweenarrays of saved versions of the plural image frames or between theplural image frame and re-consolidation of the raw images. Thus,comparison of one or more segments of each plural image frame versionallows for reduction of computation time and resources for comparing theentire plural image frames.

In another embodiment, determination of modification or consumption of aplural image frame or any image sub-elements may be based on amodification or absence of any of the sub-image components of the pluralimage or an indication that they deviate from the expected values. Amodification, in one example embodiment, would be an alteration of thesize, aspect ratio, or resolution of any one of the sub-imagecomponents. In yet another embodiment, the determination may also bebased on a dedicated value in the plural image metadata in, or a valuein an external information database, which corresponds to a number ofpossible modification or consumption events that may be recorded andtracked in quickly indicate a user action.

If user action to modify or consume a flagged plural image frame orplural image sub-elements is confirmed, the multi-camera errorcompensating system associated with the multi-view stereo imaging systemmay not add the decalibrated plural image frame to a reprocessing queuefor reprocessing after recalibration. The reason for this is that userdata may be lost or erased relating to the user action to modify theplural image frame upon reprocessing. Thus, flow proceeds to block 525where the plural image frame file is saved with an indicator to promptthe user with a warning that the plural image frame file was recorded inan out of calibration state the next time the plural image frame isaccessed. Although in some embodiments, the multi-camera errorcompensating system may run unseen in the background operation of themulti-view stereo imaging system, when a situation arises where interimedits may be lost, the multi-camera error compensating system provides awarning to the user.

In an embodiment not shown in FIG. 5, the multi-camera errorcompensating system may query the user about whether the user would likethe plural image frame to be reprocessed despite interim modifications.With an affirmative response, the flagged plural image frame may then beplaced in a reprocessing queue. Otherwise, process may end.

If user action to modify or consume a flagged plural image frame orplural image sub-elements is not detected at decision block 520, theflow proceeds to block 530. At block 530, the multi-camera errorcompensating system associated with the multi-view stereo imaging systemadds the decalibrated plural image frame to a reprocessing queue forreprocessing after recalibration.

It is understood that in other embodiments the determination of a useraction to modify or consume the plural image frame or any plural imagesub-components may cause the plural image frame to be removed from thereprocessing queue after it had already been placed there. In yetanother embodiment, a copy of the flagged plural image frame having haduser action to modify or consume it may be placed or remain in thereprocessing queue. However, another copy of the plural image frame andrelated plural image sub-components is flagged and stored so that a copyof the plural image frame and any modifications to the same is notreprocessed. In that aspect, an identifier or other indicationdifferentiating between the reprocessed plural image frame copy and anun-reprocessed one may be necessary and made known to a user.

At block 535, the multi-camera error compensating system applies dynamicrecalibration using one or more plural image frames in accordance withone or more embodiments herein. For example, plural image parametersrelating to depth distance, rotation, field of view, or focal point maybe recalibrated for the multi-view stereo image system processing.

The plural image calibration parameter database is updated withrecalibrated parameters at block 540. Proceeding to block 545, themulti-view stereo imaging system may reprocess the plural image frameusing the recalibrated plural image calibration parameters to develop adisparity calculation for the raw images of the plural image frame. At550, a recalibrated plural image frame is established by merging thedisparity date into the consolidated image. At this point the processends.

FIG. 6 is a flow diagram illustrating a method of recursivelyreprocessing plural image frames determined to be out of calibrationaccording to an embodiment of the present disclosure. Method 600 beginsin block 605 where the multi-camera error compensating system accessesone or more plural image frames stored in a plural image database. Asdescribed earlier, the plural image frames are processed from raw imagesacquired by a plurality of digital camera systems of an informationhandling system. A multi-view stereo imaging system may consolidate theraw images into a plural image frame. In some embodiments, one or morecurrent and previously recorded plural image frames may be accessed todetermine calibration status.

Flow proceeds to decision block 610 where a calibration check sub-systemmay be initiated with respect to one or more stored plural image framesto determine a state of calibration or decalibration of the plurality ofdigital camera systems with respect to the multi-view stereo imagingsystem processing. The calibration check sub-system operates similarlyto embodiments described above to make a qualitative determination ofcalibration state for each plural image frame. As described inembodiments of the present disclosure, the calibration check system willanalyze correspondences between a plurality of raw images having similaraspects of size, shape, distortion, rotation and other aspects. In otherembodiments, the calibration check system will analyze correspondencesbetween a plurality of plural image frames as well to determine withstatistical confidence that calibration has been lost between thedigital camera systems and the multi-view stereo imaging system.

If the calibration check system determines that there is no calibrationloss at block 610, then the flow proceeds to block 635 to determine ifthis is the last plural image frame to check for calibration.

If the calibration check system determines that there is no calibrationloss at block 610, then the flow proceeds to block 615 to flag a pluralimage frame as decalibrated. The out-of-calibration flag designationwill be stored with the data the consolidated plural image frame and forthe raw images acquired for a plural image frame, or this designationmay be stored in an external information database as described. Flowproceeds to decision block 620 where the multi-camera error compensatingsystem will determine whether a user action has been performed on astored plural image frame. A user action on a plural image frame is anaction to modify or edit the content of the plural image frame, or toconsume the image or associated disparity or depth information forfurther uses and processes. In an example embodiment, a user action on aplural image frame may be modification or consumption such as with aphoto editor. In another embodiment, modification of settings such asexposure settings, focus, color effects, or the like may be a useraction to modify or consume a plural image frame. In another embodiment,consumption of the related plural image sub-elements such as disparityor depth information to perform a point-to-point measurement, areameasurement, object segmentation, view interpolation, or relightingoperation may be a user action to modify or consume a plural imageframe. User action on a plural image frame file must be more than merelyviewing the two dimensional luminance and chrominance plural image framecomponents on a display screen without any modification. A user actionmust involve the consumption or potential alteration of the disparity ordepth component of the plural image frame.

In some embodiments, certain user actions may or may not sufficientlymodify a plural image frame file to amount to a user action modifying aplural image file. Examples are copying, printing, or transmitting acopy of a plural image frame. As described above, user activity such asthese examples may be set in the multi-view stereo imaging system as towhether they meet a modification threshold.

If user action to modify or consume a flagged plural image frame isconfirmed at decision block 620, the multi-camera error compensatingsystem associated with the multi-view stereo imaging system may not addthe decalibrated plural image frame to a reprocessing queue forreprocessing after recalibration. Flow proceeds to block 625 where theplural image frame file is saved with an indicator to prompt the userwith a warning that the plural image frame file was recorded in an outof calibration state. In an example embodiment not shown in FIG. 6, themulti-camera error compensating system may query the user about whetherthe user would like the plural image frame determined to be out ofcalibration to be reprocessed despite interim modifications. With anaffirmative response, the flagged plural image frame may then be placedin a reprocessing queue. Otherwise, the process may move on to decisionblock 635 to determine if the last plural image to check forcalibration.

It is understood that in another embodiment the arrangement ofdetermining whether a user modified plural image frame should be in areprocessing queue may be made after the plural image frame has beenplaced in a reprocessing queue. In that aspect, determination of a useraction to modify or consume the plural image frame or any plural imagesub-components may cause the plural image frame to be removed from thereprocessing queue. In yet another embodiment, a copy of the flaggedplural image frame having had user action to modify or consume it mayremain in the reprocessing queue or be placed in the reprocessing queue.However, another copy of the plural image frame and related plural imagesub-components is flagged and stored so that a copy of the plural imageframe is not reprocessed.

If user action to modify or consume a flagged plural image frame orimage sub-components is not detected at decision block 620, the flowproceeds to block 630. The multi-camera error compensating systemassociated with the multi-view stereo imaging system adds thedecalibrated plural image frame to a reprocessing queue for reprocessingafter recalibration at block 630. Flow then proceeds to block 635 todetermine if the current plural image frame analyzed for calibrationloss is the last plural image frame to check for calibration. Themulti-camera error compensating system may determine if the currentplural image frame analyzed for calibration loss is the last in a numberof ways. In one embodiment, the plural image frames may be analyzed inreverse chronological order. When a threshold number of reversesequential plural image frames have no decalibration detected, themulti-camera error compensating system may determine that the lastplural image frame to check for calibration has been reached. In anotherembodiment, a limit may be placed on a time period prior to discovery ofa decalibrated plural image frame. The multi-camera error compensatingsystem may check calibration of plural image frames with image creationtime stamps up until the time period limit has been reached. At thatpoint the last plural image frame to check for calibration has beenreached. Other example embodiments are contemplated as well relating todetermining the last stored plural image frame subject to a calibrationcheck.

If the last plural image frame to be checked for calibration has notbeen reached at decision block 635, flow proceeds to block 640 to accessanother stored plural image frame. In an embodiment, accessing storedplural image frames may be done in reverse sequential chronologicalorder of time of recording the plural image frame or its component rawimages. Thus, the multi-camera error compensating system will access thenext most recently recorded plural image frame stored in the pluralimage database in such an embodiment. In other embodiments, themulti-camera error compensating system may compare the plural imageframe creation timestamp with a time limitation placed on thecalibration check for plural image frames. Flow then returns to decisiondiamond 610 to detect calibration loss in the newly accessed pluralimage frame.

If the last plural image frame to be checked for calibration has beenreached at decision block 635, flow proceeds to block 645 where themulti-camera error compensating system may conduct dynamic recalibrationvia the calibration engine in accordance with embodiments describedherein or variations as may be understood. The calibration engine mayutilize one or more of the plural image frames or the raw imagesdesignated as out of calibration in the preceding steps. Proceeding toblock 650, the multi-camera error compensating system updates thecalibration data base with recalibrated plural image calibrationparameters in accordance with the above described embodiments.

Proceeding to block 655, the multi-view stereo imaging system mayreprocess the plural image frame using the recalibrated plural imagecalibration parameters to develop a disparity calculation. At 660, arecalibrated plural image frame is established by merging the disparitydate into the consolidated image. At this point the process ends.

It is understood that in any of the code instruction algorithm methodsdescribed in the present disclosure in FIG. 4, 5, or 6 or elsewhereherein, steps for the algorithms described may be omitted or conductedin any order or some steps may be conducted simultaneously. One or moreadditional steps may also be added in any of the described algorithmmethods and any portion of any of the algorithm methods described hereinmay be combined with any other algorithm method portion as would beunderstood in the art. The described algorithms are meant as exemplaryembodiments and variations to those method algorithms are anticipated inaccordance with the present disclosure.

While the computer-readable medium is shown to be a single medium, theterm “computer-readable medium” includes a single medium or multiplemedia, such as a centralized or distributed database, and/or associatedcaches and servers that store one or more sets of instructions. The term“computer-readable medium” shall also include any medium that is capableof storing, encoding, or carrying a set of instructions for execution bya processor or that cause a computer system to perform any one or moreof the methods or operations disclosed herein.

In a particular non-limiting, exemplary embodiment, thecomputer-readable medium can include a solid-state memory such as amemory card or other package that houses one or more non-volatileread-only memories. Further, the computer-readable medium can be arandom access memory or other volatile re-writable memory. Additionally,the computer-readable medium can include a magneto-optical or opticalmedium, such as a disk or tapes or other storage device to storeinformation received via carrier wave signals such as a signalcommunicated over a transmission medium. Furthermore, a computerreadable medium can store information received from distributed networkresources such as from a cloud-based environment. A digital fileattachment to an e-mail or other self-contained information archive orset of archives may be considered a distribution medium that isequivalent to a tangible storage medium. Accordingly, the disclosure isconsidered to include any one or more of a computer-readable medium or adistribution medium and other equivalents and successor media, in whichdata or instructions may be stored.

When referred to as a “device,” a “module,” or the like, the embodimentsdescribed herein can be configured as hardware. For example, a portionof an information handling system device may be hardware such as, forexample, an integrated circuit (such as a processor, an ApplicationSpecific Integrated Circuit (ASIC), a Field Programmable Gate Array(FPGA), a structured ASIC, or a device embedded on a larger chip), acard (such as a Peripheral Component Interface (PCI) card, a PCI-expresscard, a Personal Computer Memory Card International Association (PCMCIA)card, or other such expansion card), or a system (such as a motherboard,a system-on-a-chip (SoC), or a stand-alone device).

The device or module can include software, including firmware embeddedat a device, such as an Intel® Core™ or ARM® RISC brand processor, orother such device, or software capable of operating a relevantenvironment of the information handling system. The device or module canalso include a combination of the foregoing examples of hardware orsoftware. Note that an information handling system can include anintegrated circuit or a board-level product having portions thereof thatcan also be any combination of hardware and software.

Devices, modules, resources, or programs that are in communication withone another need not be in continuous communication with each other,unless expressly specified otherwise. In addition, devices, modules,resources, or programs that are in communication with one another cancommunicate directly or indirectly through one or more intermediaries.

Although only a few exemplary embodiments have been described in detailherein, those skilled in the art will readily appreciate that manymodifications are possible in the exemplary embodiments withoutmaterially departing from the novel teachings and advantages of theembodiments of the present disclosure. Accordingly, all suchmodifications are intended to be included within the scope of theembodiments of the present disclosure as defined in the followingclaims. In the claims, means-plus-function clauses are intended to coverthe structures described herein as performing the recited function andnot only structural equivalents, but also equivalent structures.

What is claimed is:
 1. A method multi-camera error compensationcomprising: recording a plurality of raw images via a plurality ofdigital cameras; consolidating the plurality of raw images into a pluralimage frame, wherein the plural image frame is a composite image basedon blending at least a portion of the plurality of raw images into thecomposite image; processing, via a processor executing instructions fora multi-view stereo imaging system, the plural image frame from the rawimages captured by the plurality of digital cameras; storing the pluralimage frame in a memory; detecting calibration loss of at least onedigital camera via the processor executing instructions for amulti-camera error compensating system via assessment of the pluralimage frame; conducting dynamic recalibration of plural imagecalibration parameters based on at least one plural image frame and inresponse to detection of calibration loss via the multi-camera errorcompensating system; and updating, via the processor, a calibrationdatabase for the multi-view stereo imaging system to the recalibratedplural image parameters for processing future plural image frames. 2.The method of claim 1 further comprising: dynamically detectingcalibration loss of at least one digital camera via periodic assessmentof plural image frames for deviation from expected behavior from apre-existing calibration operation level.
 3. The method of claim 1wherein the plural image frame is flagged as decalibrated.
 4. The methodof claim 1 further comprising: determining whether any user action hasbeen performed to modify or consume the stored plural image and if sowarning the user of the decalibrated plural image frame.
 5. The methodof claim 1 further comprising: adding the stored plural image frame tothe reprocessing queue if no user action has been performed to modify orconsume the stored plural image.
 6. The method of claim 1 furthercomprising: detecting calibration loss of the at least one digitalcamera via the processor executing instructions for a multi-camera errorcompensating system via background processing to avoid interruption of auser unless loss of calibration is determined.
 7. The method of claim 1further comprising: executing dynamic recalibration of plural imagecalibration parameters for future processing of plural images inbackground processing unless loss of calibration interferes with useractivity accessing decalibrated plural images.
 8. An informationhandling system comprising: a plurality of digital cameras for recordingraw images for consolidation into a plural image frame, wherein theplural image frame is a composite image based on blending at least aportion of a plurality of raw images consolidated to form the pluralimage frame; the processor operatively coupled to the plurality ofdigital cameras for processing plural imaging functions via execution ofinstructions for a multi-view stereo imaging system; a memoryoperatively coupled to the processor, the memory for storing the pluralimage frame; the processor executing instructions for a multi-cameraerror compensating system to conduct dynamic detection of calibrationloss of at least one digital camera via periodic assessment of pluralimage frames for deviation from expected behavior from a pre-existingcalibration operation level; the multi-camera error compensating systemconducting dynamic recalibration of plural image calibration parametersfor future processing of plural images based on at least one assessedplural image frame and in response to detection of calibration loss; andthe processor interrupting use of the plural image frame in processingthe plural image when calibration loss is determined.
 9. The informationhandling system of claim 8 wherein the processor operatively coupled tothe plurality of digital cameras for processing plural imaging functionsincludes three-dimensional (3D) imaging by determination of depth valuesfor parts of the plural image frame.
 10. The information handling systemof claim 8 wherein dynamically recalibration of the plural imagecalibration parameters includes recalibrating depth distance for objectsrecorded in the plural image frame.
 11. The information handling systemof claim 8 further comprising: the multi-camera error compensatingsystem reprocessing the plural image frame according to recalibratedplural image parameters.
 12. The information handling system of claim 11further comprising: the multi-camera error compensating system detectingcalibration loss of the at least one digital camera via backgroundprocessing to avoid interruption of a user unless loss of calibration isdetermined.
 13. The information handling system of claim 8 wherein themulti-camera error compensating system flags plural image framesidentified as decalibrated and stores the decalibrated flag designationsin memory.
 14. The information handling system of claim 8 furthercomprising: the multi-camera error compensating system executing dynamicrecalibration of plural image calibration parameters for futureprocessing of plural images in background processing unless loss ofcalibration interferes with user activity accessing decalibrated pluralimages.
 15. A method for multi-camera error compensation comprising:recording a plurality of raw images via a plurality of digital cameras;consolidating the plurality of raw images into a plural image frame,wherein the plural image frame is a composite image based on at least aportion of the plurality of raw images; processing, via a processorexecuting instructions for a multi-view stereo imaging system, theplural image frame from the raw images captured by the plurality ofdigital cameras; storing the plural image frame in a memory; dynamicallydetecting calibration loss of at least one digital camera via theprocessor executing instructions for a multi-camera error compensatingsystem via periodic assessment of plural image frames for deviation fromexpected behavior from a pre-existing calibration operation level;executing dynamic recalibration of plural image calibration parametersfor future processing of plural images based on at least one assessedplural image frame and in response to detection of calibration loss; andthe processor interrupting use of the plural image frame in processingthe plural image when calibration loss is determined.
 16. The method ofclaim 15 wherein the processing plural image frame from the raw imagescaptured by the plurality of digital cameras includes determination of adepth values for three-dimensional (3D) image processing of the pluralimage frame.
 17. The method of claim 15 further comprising: flagging oneor more plural image frames as decalibrated and storing thedecalibration flag designation in memory.
 18. The method of claim 15further comprising: determining whether the decalibrated plural imageframe that has been modified by user action after determination of lossof calibration and warning a user of the decalibration upon access tothe decalibrated plural image frame.
 19. The method of claim 15 furthercomprising: detecting calibration loss of the at least one digitalcamera via the processor executing instructions for a multi-camera errorcompensating system via background processing to avoid interruption of auser unless loss of calibration is determined.
 20. The method of claim15 further comprising: executing dynamic recalibration of plural imagecalibration parameters for future processing of plural images inbackground processing unless loss of calibration interferes with useractivity accessing decalibrated plural images.